| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a vehicular electric power steering apparatus with an improved steering feeling under the condition of a steering wheel being located nearby a neutral position.SOLUTION: An electric power steering apparatus includes a control device that controls a motor on the basis of an assist instruction value Ta*, and includes: a basic assist component computation part 60 for computing a first assist component Ta1* on the basis of steering-torque Th; a steering angle instruction value computation part 61 for computing a steering angle instruction valueθt* on the basis of an added value of the steering-torque Th and first assist component Ta1*; and a steering angle feedback control part 62 for computing a second assist component Ta2* by means of feedback control in which an actual steering angleθt is caused to follow the steering angle instruction valueθt*. The control device further includes: a correction component computation part 65 for computing a correction component Tc* on the basis of a steering angleθs; and an assist instruction value computation part 50 for calculating an assist instruction value Ta* by subtracting the correction componentθs from an added value of the assist components Ta1*, Ta2*.</p> |
